| 未知环境下的移动机器人主动寻径导航策略 |
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| 引用本文： | 仲朝亮,刘士荣.未知环境下的移动机器人主动寻径导航策略[J].杭州电子科技大学学报,2008,28(6):99-102. |
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| 作者姓名： | 仲朝亮 刘士荣 |
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| 作者单位： | 杭州电子科技大学自动化研究所,浙江,杭州,310018 |
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| 基金项目： | 国家自然科学基金资助项目
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浙江省科技计划资助项目
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| 摘 要： | 针对纯粹反应式的导航算法有时会出现没有远见现象的问题,设计了一种基于行为和路径子目标的主动寻径导航策略。该策略首先利用目标点和远距离传感器的信息生成可行路径子目标点,接着使用决策树实现快速的行为决策。仿真结果证明了有效性。
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| 关 键 词： | 子目标 行为 自主导航 |
Mobile robot active path planning in unknown environment |
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| ZHONG Chao-liang,LIU Shi-rong.Mobile robot active path planning in unknown environment[J].Journal of Hangzhou Dianzi University,2008,28(6):99-102. |
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| Authors: | ZHONG Chao-liang LIU Shi-rong |
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| Affiliation: | ( Institute of Automation, Hangzhou Dianzi University, Hangzhou Zhejiang 310018, China) |
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| Abstract: | The purely reactive navigation algorithms may result in a shortsighted phenomenon. So, an active path planning strategy based on the behavior and intermediate goal for mobile robot was produced. The information about the global goal and the long- range sensory data are used to produce an intermediate goal, and then the behavior decision tree is presented for navigation control. Simulation results are provided to demonstrate the feasibility of the proposed method. |
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| Keywords: | intermediate goal behavior autonomous navigation |
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